Matrix Pencil-Based Dynamic Event-Triggered Cooperative Formation Control for Multiagents

Cooperative formation control is essential for multiagent systems in applications such as surveillance, logistics, and environmental monitoring. In this article, we propose a matrix pencil-based decentralized control scheme that ensures prescribed-time convergence without interagent communication. Both static and dynamic event-triggered protocols are developed to significantly reduce control updates while maintaining stability. The dynamic version further extends interevent intervals compared with its static counterpart. A key contribution is a low-conservatism gain design method using matrix pencils, enabling controller parameters to be directly selected from precomputed tables, which greatly simplifying implementation. Zeno behavior is rigorously excluded for both schemes, and the effectiveness of the proposed methods is verified through simulations and hardware experiments. This work provides a practical solution for communication-free multiagent systems operating in resource-constrained environments.